Locomotion Class Reference

#include <Locomotion.h>

List of all members.

Public Member Functions
int	generateZigZagSearchPattern (AL::ALValue &pitchCommands, AL::ALValue &yawCommands, float maxYaw, float minPitch, float maxPitch, int numTiltLevels, int timePerPan)
int	generateNod (AL::ALValue &pitchCommands, AL::ALValue &yawCommands, float headyaw, float minPitch, float maxPitch, int timePerNod)
	Locomotion ()
	~Locomotion ()
void	RunLocomotion ()
void	updateOdometry ()
int	MoveHead (float newYaw, float newPitch, int timeMs=0)
int	MoveHeadALMotion (float yaw, float pitch, int timeMs)
int	MoveHeadDCM (float yaw, float pitch, int timeMs)
void	LocalisationPan (bool autoSetCamera=true)
int	ALMotionPan (float maxYaw, float minPitch, float maxPitch, float numPitchLevels, int timePerPan)
bool	isPanning ()
void	nodPan (float headyaw, bool autoSetCamera=true)
void	nodPanDCM (float headyaw)
void	nodPanALMotion (float headyaw)
void	SearchPan (bool autoSetCamera=true)
void	CloseBallSearchPan (bool autoSetCamera=true)
void	Initialise ()
void	TrackPoint (double x, double y)
int	doKick (float kickyposition)
int	doSave (float saveyposition)
Public Attributes
bool	stiffnessSet
script	getUpFront
script	getUpBack
script	getUpBackFall
script	leftKick
script	leftWideKick
script	rightKick
script	rightWideKick
script	leftInsideKick
script	rightInsideKick
script	leftInsideKickClose
script	rightInsideKickClose
script	leftBackKick
script	rightBackKick
script	leftSaveClose
script	rightSaveClose
script	centreSave
int	currentMotionEndTime
int	numPanSequences
int	numPanSweeps
int	ALMotionLastHeadTaskID
bool	HeadMotionUsingDCM
int	yawTask
int	pitchTask
int	framesSinceMoved
int	m_callCount
JWalk *	m_Walk
double	previousHipYaw
float	previousLeftX
float	previousRightX
float	previousLeftY
float	previousRightY
ofstream	odometryFile
vector< float >	NextFrameTargets

---

Constructor & Destructor Documentation

Locomotion::Locomotion

(

)

Locomotion::~Locomotion

(

)

---

Member Function Documentation

int Locomotion::ALMotionPan	(	float	maxYaw,
		float	minPitch,
		float	maxPitch,
		float	numPitchLevels,
		int	timePerPan
	)

void Locomotion::CloseBallSearchPan

(

bool

autoSetCamera = true

)

int Locomotion::doKick

(

float

kickyposition

)

int Locomotion::doSave

(

float

saveyposition

)

int Locomotion::generateNod	(	AL::ALValue &	pitchCommands,
		AL::ALValue &	yawCommands,
		float	headyaw,
		float	minPitch,
		float	maxPitch,
		int	timePerNod
	)

int Locomotion::generateZigZagSearchPattern	(	AL::ALValue &	pitchCommands,
		AL::ALValue &	yawCommands,
		float	maxYaw,
		float	minPitch,
		float	maxPitch,
		int	numTiltLevels,
		int	timePerPan
	)

void Locomotion::Initialise

(

)

bool Locomotion::isPanning

(

)

void Locomotion::LocalisationPan

(

bool

autoSetCamera = true

)

int Locomotion::MoveHead	(	float	newYaw,
		float	newPitch,
		int	timeMs = 0
	)

int Locomotion::MoveHeadALMotion	(	float	yaw,
		float	pitch,
		int	timeMs
	)

int Locomotion::MoveHeadDCM	(	float	yaw,
		float	pitch,
		int	timeMs
	)

void Locomotion::nodPan	(	float	headyaw,
		bool	autoSetCamera = true
	)

void Locomotion::nodPanALMotion

(

float

headyaw

)

void Locomotion::nodPanDCM

(

float

headyaw

)

void Locomotion::RunLocomotion

(

)

void Locomotion::SearchPan

(

bool

autoSetCamera = true

)

void Locomotion::TrackPoint	(	double	x,
		double	y
	)

void Locomotion::updateOdometry

(

)

---

Member Data Documentation

int Locomotion::ALMotionLastHeadTaskID

script Locomotion::centreSave

int Locomotion::currentMotionEndTime

int Locomotion::framesSinceMoved

script Locomotion::getUpBack

script Locomotion::getUpBackFall

script Locomotion::getUpFront

bool Locomotion::HeadMotionUsingDCM

script Locomotion::leftBackKick

script Locomotion::leftInsideKick

script Locomotion::leftInsideKickClose

script Locomotion::leftKick

script Locomotion::leftSaveClose

script Locomotion::leftWideKick

int Locomotion::m_callCount

JWalk* Locomotion::m_Walk

vector<float> Locomotion::NextFrameTargets

int Locomotion::numPanSequences

int Locomotion::numPanSweeps

ofstream Locomotion::odometryFile

int Locomotion::pitchTask

double Locomotion::previousHipYaw

float Locomotion::previousLeftX

float Locomotion::previousLeftY

float Locomotion::previousRightX

float Locomotion::previousRightY

script Locomotion::rightBackKick

script Locomotion::rightInsideKick

script Locomotion::rightInsideKickClose

script Locomotion::rightKick

script Locomotion::rightSaveClose

script Locomotion::rightWideKick

bool Locomotion::stiffnessSet

int Locomotion::yawTask

---

The documentation for this class was generated from the following files:

• /Users/jason/Code/naowalkoptimiser/src/Locomotion/Locomotion.h
• /Users/jason/Code/naowalkoptimiser/src/Locomotion/Locomotion.cpp